Fear Our
Bubbles
Above is an idea that we had worked on for two years
Below are some idea that we are developing
Six Wheel Omni Directional Drive With a suspension
Rotate Drive (CRAB)
Six Wheel Omni Directional Drive System With a Suspension for ramps
This system will have a six wheel drive system that has a independent suspension for the corner wheels. The robot will still have the ability of going all directions including rotate. Note the red dots in the middle of the frame. This is the location where the steel pipes will go through and support the robot. The right one is slotted so the suspension can move.
Above: A CAD drawing that we have started
Above: A layout of the robot base. We envision that the bumper bolts will slide into the steel tubes and cotter pins will hold them on for easy removal. Note that the drives are clear so they can move up and down for going over ramps. This drive design requires full contact with the floor. Above Right a lower cost version, no helical gears. Straight off the BaneBot gear boxes makes it easy to assemble. Note how the bumpers are attached by pins.
Above: Our third drive design of this system. It is easier and less expensive to build and allows for chain adjustment by slotting the frame for the gear box mount. This also with the new motor location gives room front and back for ball pick up or arm mounting.
Above: Air suspension. Our latest Idea. Once the air pressure is set to hold the robot at the needed height when one side moves up air will force the other side down. This will allow the robot to transition up a ramp on a angle.
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Above how about More traction with Omni direction. Maybe too much weight but it just might work.
Above is a test model. Below are drawings of an assembly we will build. We will use cable and pully with spring tension to hold it open.
Above: We built the hand design and it did work but the finger tips would bend before the finger base. Not good for grabbing things. We may remove a bend joint for easy control.
Below are a rotating drive system. What will make it work is that the arm rotates with the drive wheels. So the claw will always be pointing at the drive direction.
Helical gears are to be used with bearings on each side. Two wheels will help balance the system. The red indicates the gear housing made in two halves.
A globe motor would be perfect to rotate the direction. One idle gear would be the drive motor but both would tension the chain. You could actually put the chains inside tubes to hide them and also support the robot.
All drive: This Idea has a lot of potential but is unsolved. The Idea is to have one CIM motor run a corner section of the wheels (2 x 24 = 48) and those wheels can turn 360 degrees. The turn motor would be connected with four flexible shafts. The wheels block is also on a suspension allowing it to tip enough to go up ramps. With Four wheel blocks that would be a total of 4 x 48 = 92 wheels. This would be fast, strong, and maneuverable.
Above, driving an angle direction.
Above is a worm gear with a curve shape. Along the curve is a idler gear attached to an arm that can move it along the curve. The larger gear is the drive gear attached to a shaft for power for drive wheels. At this time we do not have the capability to produce this worm gear.
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The above kicker was found to be very effective and easy to build. You can hook a vex motor to a variable relief valve and very the kick distance very well.